Patient-specific simulation data for robotic surgical planning

Abstract

A method for creating a patient-specific surgical plan includes receiving one or more pre-operative images of a patient having one or more infirmities affecting one or more anatomical joints. three-dimensional anatomical model of the one or more anatomical joints is created based on the one or more pre-operative images. One or more transfer functions and the three-dimensional anatomical model are used to identify a patient-specific implantation geometry that corrects the one or more infirmities. The transfer functions model performance of the one or more anatomical joints as a function of anatomical geometry and anatomical implantation features. surgical plan comprising the patient-specific implantation geometry may then be displayed.

We claim: 
     
       1. A computer-implemented method for creating a patient-specific surgical plan, the method comprising:
 receiving one or more pre-operative images of a patient having one or more infirmities affecting one or more anatomical joints; 
 creating a three-dimensional anatomical model of the one or more anatomical joints based on the one or more pre-operative images; 
 utilizing one or more transfer functions and the three-dimensional anatomical model to identify a patient-specific implantation geometry that corrects the one or more infirmities, wherein the one or more transfer functions model performance of the one or more anatomical joints as a function of anatomical geometry and anatomical implantation features; 
 receiving intra-operative patient anatomical data during a surgical procedure; 
 identifying, based on the one or more transfer functions, the three-dimensional anatomical model, and the intra-operative patient anatomical data, an updated patient-specific implantation geometry; and 
 displaying a surgical plan comprising the updated patient-specific implantation geometry. 
 
     
     
       2. The method of  claim 1 , wherein the intra-operative patient anatomical data comprises intra-operative image data. 
     
     
       3. The method of  claim 1 , wherein the intra-operative patient anatomical data comprises data collected by painting surfaces of one or more bones using a probe. 
     
     
       4. The method of  claim 1 , wherein the surgical plan is for a knee arthroplasty surgical procedure and the patient-specific implantation geometry comprises implantation poses for femoral and tibial components. 
     
     
       5. The method of  claim 4 , wherein the surgical plan further comprises recommended placement of dome or patellar buttons to achieve the implantation poses for femoral and tibial components. 
     
     
       6. The method of  claim 1 , further comprising:
 receiving motion capture data describing relative motion of one or more portions of the patient's anatomy captured while the patient performed a plurality of motions, 
 wherein the three-dimensional anatomical model of the one or more anatomical joints is further based on the motion capture data. 
 
     
     
       7. The method of  claim 1 , wherein the three-dimensional anatomical model of the anatomical joints comprises data describing one or more of sacral/pelvic geometry, femoral head/neck and acetabular cup geometry, femoral and tibial axes, condylar centers and sizes, existing condylar gaps, and patella size. 
     
     
       8. The method of  claim 1 , wherein utilizing the one or more transfer functions and the three-dimensional anatomical model to identify the patient-specific implantation geometry comprises:
 applying a Monte Carlo method to iteratively evaluate a plurality of possible implant geometries for correcting the infirmities affecting the one or more anatomical joints, wherein each iteration of the Monte Carlo method applies the one or more transfer functions with a distinct set of parameters. 
 
     
     
       9. The method of  claim 1 , further comprising generating the one or more transfer functions using a process comprising:
 receiving a motion capture dataset generated by performing motion capture on an actor performing one or more tasks associated with one or more specified physical activities; 
 generating one or more joint motion profiles based on the motion capture dataset, wherein each joint motion profile comprises data describing positions of the one or more anatomical joints during completion of the tasks; 
 loading, by a processor, a multibody model of bone and soft tissue that models performance of the one or more anatomical joints when used in conjunction with one or more anatomical implants; 
 executing, by the processor, one or more simulations of the multibody model using the joint motion profiles to generate one or more simulation results; and 
 using the one or more simulation results to generate the one or more transfer functions. 
 
     
     
       10. An article of manufacture for creating a patient-specific surgical plan, the article of manufacture comprising a non-transitory computer-readable medium storing computer-executable instructions for performing a method comprising:
 receiving one or more pre-operative images of a patient having one or more infirmities affecting one or more anatomical joints; 
 creating a three-dimensional anatomical model of the one or more anatomical joints based on the one or more pre-operative images; 
 utilizing one or more transfer functions and the three-dimensional anatomical model to identify a patient-specific implantation geometry that corrects the one or more infirmities, wherein the one or more transfer functions model performance of the one or more anatomical joints as a function of anatomical geometry and anatomical implantation features; 
 receiving intra-operative patient anatomical data during a surgical procedure; 
 identifying, based on the one or more transfer functions, the three-dimensional anatomical model, and the intra-operative patient anatomical data, an updated patient-specific implantation geometry; and 
 storing a surgical plan comprising the updated patient-specific implantation geometry. 
 
     
     
       11. The article of  claim 10 , wherein the intra-operative patient anatomical data comprises intra-operative image data. 
     
     
       12. The article of  claim 10 , wherein the intra-operative patient anatomical data comprises data collected by painting surfaces of one or more bones using a probe. 
     
     
       13. The article of  claim 10 , wherein the surgical plan is for a knee arthroplasty surgical procedure and the patient-specific implantation geometry comprises implantation poses for femoral and tibial components. 
     
     
       14. The article of  claim 13 , wherein the surgical plan further comprises recommended placement of dome or patellar buttons to achieve the implantation poses for femoral and tibial components. 
     
     
       15. The article of  claim 10 , further comprising:
 receiving motion capture data describing relative motion of one or more portions of the patient's anatomy captured while the patient performed a plurality of motions, 
 wherein the three-dimensional anatomical model of the one or more anatomical joints is further based on the motion capture data. 
 
     
     
       16. The article of  claim 10 , wherein the three-dimensional anatomical model of the anatomical joints comprises data describing one or more of sacral/pelvic geometry, femoral head/neck and acetabular cup geometry, femoral and tibial axes, condylar centers and sizes, existing condylar gaps, and patella size. 
     
     
       17. The article of  claim 10 , wherein utilizing the one or more transfer functions and the three-dimensional anatomical model to identify the patient-specific implantation geometry comprises:
 applying a Monte Carlo method to iteratively evaluate a plurality of possible implant geometries for correcting the infirmities affecting the one or more anatomical joints, wherein each iteration of the Monte Carlo method applies the one or more transfer functions with a distinct set of parameters. 
 
     
     
       18. The article of  claim 10 , further comprising generating the one or more transfer functions using a process comprising:
 receiving a motion capture dataset generated by performing motion capture on an actor performing one or more tasks associated with one or more specified physical activities; 
 generating one or more joint motion profiles based on the motion capture dataset, wherein each joint motion profile comprises data describing positions of the one or more anatomical joints during completion of the tasks; 
 loading, by a processor, a multibody model of bone and soft tissue that models performance of the one or more anatomical joints when used in conjunction with one or more anatomical implants; 
 executing, by the processor, one or more simulations of the multibody model using the joint motion profiles to generate one or more simulation results; and 
 using the one or more simulation results to generate the one or more transfer functions. 
 
     
     
       19. A computer-implemented method for creating a patient-specific surgical plan, the method comprising:
 creating a three-dimensional anatomical model of one or more anatomical joints based on one or more pre-operative images of a patient having one or more abnormal constraints on motion of the one or more anatomical joints; 
 utilizing one or more transfer functions and the three-dimensional anatomical model to identify a patient-specific implantation geometry based on the one or more abnormal constraints, wherein the one or more transfer functions model performance of the one or more anatomical joints as a function of anatomical geometry and anatomical implantation features; 
 updating, based on at least intra-operative patient anatomical data, an updated patient-specific implantation geometry; and 
 displaying a surgical plan comprising the updated patient-specific implantation geometry.